Pith Number

pith:25ZL52R3

pith:2016:25ZL52R35BDXYIWKOXDFNX3EW7

not attested not anchored not stored refs pending

Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure

Jingtai Liu, Meng Wang, Ningbo Yu, Wen Tan, Wulin Zou, Zhuo Yang

arxiv:1610.09606 v1 · 2016-10-30 · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{25ZL52R35BDXYIWKOXDFNX3EW7}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T01:00:51.550912Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d772beea3be8477c22ca75c656df64b7c4401097bee97323c2b277bb07dd5f37

Aliases

arxiv: 1610.09606 · arxiv_version: 1610.09606v1 · doi: 10.48550/arxiv.1610.09606 · pith_short_12: 25ZL52R35BDX · pith_short_16: 25ZL52R35BDXYIWK · pith_short_8: 25ZL52R3

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/25ZL52R35BDXYIWKOXDFNX3EW7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d772beea3be8477c22ca75c656df64b7c4401097bee97323c2b277bb07dd5f37

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "76244383d3b67d25e3047847c7ed51ddeb637af652cb1b41efd225b3e8ac47ae",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2016-10-30T05:38:39Z",
    "title_canon_sha256": "5508f537065bfc0bde9f9cb5581704c0992d19907865596014e86c511116f3a1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1610.09606",
    "kind": "arxiv",
    "version": 1
  }
}